IEEE Transactions on Industrial Electronics

Volume 38, Number 1, Feb 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.1.1	H. Dai, N.K. Sinha, "Robust recursive instrumental variable method with modified weights for bilinear system identification," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 1-7, Feb 1991. Abstract Link Full Text Abstract: Based on P.J. Huber's minimax principle (1981), both symmetric and nonsymmetric robust recursive instrumental variable methods with modified weights are developed for bilinear system identification. A novel approach is used to prove a general convergence theorem for the proposed robust methods. The robustness and convergence of the proposed approaches are demonstrated by comparison with the corresponding nonrobust approaches in two simulation examples. It is shown that the suggested methods are far superior to the nonrobust ones
38.1.2	M.A. Manzoul, "Interrupt-driven microprocessor-based overcurrent relay," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 8-9, Feb 1991. Abstract Link Full Text Abstract: An interrupt-driven overcurrent relay for power systems using the 8085 microprocessor is presented. The relay requests processing time from the microprocessor only when a fault occurs. In this way, the microprocessor is given the opportunity to run other tasks such as diagnostic tests online during normal conditions
38.1.3	F. Chen, C.S. Chen, "A 20 b dynamic-range floating-point data acquisition system," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 10-14, Feb 1991. Abstract Link Full Text Abstract: The design and engineering of a floating-point data-acquisition system are described. The system has both automatic gain and software-programmable gain adjustment features. In automatic gain adjustment mode, the gain is set automatically dependent on the input amplitude so that the full conversion resolution is maintained irrespective of the signal dynamic range. A high-speed flash ADC with an approximately 35 ns conversion time is used to convert the signal quickly into 8 b data. A programmable array logic (PAL) then transfers this 8 b digital data into 12 b information for setting the gain of the variable-gain amplifier. The amplifier gain settings are all powers of two; thus, the normalization of the digitized data requires only a bit shifting operation and no complex software division. The gain information and the 12 b sampling ADC output increase the dynamic range to 20 b. The software package includes commands needed for the system initiation, automatic gain or software programmable gain selection, sampling and conversion, and data normalization
38.1.4	H. Arai, S. Tachi, "Position control system of a two degree of freedom manipulator with a passive joint," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 15-20, Feb 1991. Abstract Link Full Text Abstract: A method is proposed for controlling the position of a manipulator with passive joints that have holding brakes instead of actuators. In this method, the coupling characteristics of manipulator dynamics are used, and no additional mechanisms are required. The effectiveness of the method was verified by experiments using a prototype manipulator. The prototype is a two-degree-of-freedom, horizontally articulated manipulator. The first axis is an active joint, and the second axis is a passive joint. While the brake of the passive joint is released, the passive joint is indirectly controlled by the motion of the active joint through the use of dynamic coupling. While the brake is engaged, the active joint is controlled. By combining these two control modes, the total position of the manipulator is controlled. The experiments show that use of this method makes the precise positioning of the passive joints possible
38.1.5	T.C.S. Hsia, T.A. Lasky, Z. Guo, "Robust independent joint controller design for industrial robot manipulators," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 21-25, Feb 1991. Abstract Link Full Text Abstract: A novel approach is presented for the design of simple robust independent joint controllers for industrial robot manipulators. In this approach, each joint actuator is treated as a simple inertial system plus a disturbance torque representing all the unmodeled dynamics. By a very simple algorithm, the disturbance is instantly estimated and rejected, thus allowing a simple proportional-derivative (PD) control scheme to be used. The stability of the proposed control law is analyzed. Experimental evaluations of the controller on a microcomputer-controlled PUMA 560 arm were performed. It is shown that the control scheme is simple and practical and that it can be easily implemented on an industrial manipulator presently in use
38.1.6	Dong Sang Yoo, Myung Jin Chung, Zeungnam Bien, "Real-time implementation and evaluation of dynamic control algorithms for industrial manipulators," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 26-31, Feb 1991. Abstract Link Full Text Abstract: The authors explore the real-time implementation of various dynamic control algorithms, which use different levels of information of the dynamics of a robot system, to show the feasibility and effectiveness of such algorithms. For this purpose, the dynamic equations of a robot manipulator based on Lagrange mechanisms are derived, converted to the equivalent dynamics with respect to the actuator, and added to the actuator dynamics. Hysteresis current controllers are used as the torque-type controller. Experimental results indicate that the computed torque and iterative learning control methods perform better than classical proportional-integral-derivative (PID) control and that these algorithms can be effectively applied to controlling industrial manipulators
38.1.7	Marn Go Kim, Myung Joong Youn, "A discrete time domain modeling and analysis of controlled series resonant converter," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 32-40, Feb 1991. Abstract Link Full Text Abstract: A discrete time domain modeling and analysis technique applicable to all types of inner-feedback and noninner-feedback-controlled series resonant converter (SRC) is presented. The nonlinear discrete time domain equations representing the static and dynamic behavior of the SRC are derived and linearized about the equilibrium state of the SRC. In addition, the inner-feedback control law is linearized about the equilibrium state. The linearized SRC and the linearized inner-feedback control law are then combined to arrive at a linearized inner-feedback-controlled SRC. The linearized modeling is used to analyze the stability and dynamic characteristics of the controlled SRC
38.1.8	M.P. Kazmierkowski, W. Sulkowski, "A novel vector control scheme for transistor PWM inverter-fed induction motor drive," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 41-47, Feb 1991. Abstract Link Full Text Abstract: A novel vector control scheme for a transistor pulse-width-modulation (PWM)-inverter-fed induction motor drive is presented. The system is based on a current control loop that consists of two independent nonlinear controllers that regulate the DC (field-oriented) components of the stator current vector. Three-level hysteresis comparators are used as current controllers. The outputs of the comparators select the appropriate inverter output voltage vectors via a switching erasable programmable ROM (EPROM) table. The theoretical principle of this method is discussed. Simulation and experimental results that illustrate the operation of the proposed system and performance in comparison with the other known schemes based on two-level hysteresis comparators are presented
38.1.9	C. Frangos, Y. Yavin, "Current controller design for an electromagnetic actuator using an online parameter optimization approach," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 48-50, Feb 1991. Abstract Link Full Text Abstract: The design is presented of a digital proportional-plus-integral current controller for a nonlinear electromagnetic actuator using an online parameter optimization approach. The minimization algorithm of J.A. Nelder and R. Mead (1965) is used to calculate the proportional and integral controller gain such that a design objective function is minimized. At each iteration of the minimization procedure, the objective function is calculated by sampling the actual current and voltage signals of the actuator
38.1.10	S. Saadate, R. Le Doeuff, R. Periot, "Design of a high-voltage GTO chopper for traction drive," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 51-56, Feb 1991. Abstract Link Full Text Abstract: A chopper operating at 4000 V and 800 A RMS using two large series-connected GTOs (4500 V, 2500 A) is designed. The series connection of GTOs is considered, including criteria for the selection of GTOs, design of snubbers, and adaption of GTO controls. The advantages and drawbacks of the strategies used are discussed. Detailed experimental results concerning the GTOs' commutations and the snubber circuits are presented. The influence of important parameters, such as the load current on the transient voltage distribution on the GTOs is discussed. Because series connection of GTOs is liable to be used in the high-voltage converters of rail traction systems, two industrial realizations are proposed
38.1.11	M. Morimoto, S. Sato, K. Sumito, K. Oshitani, "Voltage modulation factor of the magnetic flux control PWM method for inverter," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 57-61, Feb 1991. Abstract Link Full Text Abstract: The voltage modulation factor of the magnetic flux control pulse-width modulation (PWM) method is discussed. The modulation factor is derived from a theoretical study on the flux locus produced from the inverter output voltage. The derivation is based on the fact that the fundamental component of the inverter output voltage is proportional to the radius of the flux locus. It is shown theoretically that the voltage modulation factor is expressed by the content of a zero vector in one cycle of the selected PWM pattern of the space vector expression. The modulation factor of the magnetic flux control PWM method is calculated. The modulation factor can be varied from zero to 12/π². The output voltage of the magnetic flux control PWM method can be controlled by the modulation factor linearly from zero up to overmodulation. The simulation and experimental results are also shown
38.1.12	W. Ahmad, "Biphase amplifier for precision controlled rectification and polar logic operations," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 62-64, Feb 1991. Abstract Link Full Text Abstract: A biphase amplifier is a positive-negative controlled unity gain amplifier. Its circuit is simple but very useful in the fields of control, instrumentation, and communications. The use of a biphase amplifier for some novel applications, e.g. polar logic operations and precision controlled rectifications, is described. The circuits described were experimentally tested and found to be quite satisfactory
38.1.13	F.H.F. Leung, P.K.S. Tam, C.K. Li, "The control of switching DC-DC converters-a general LWR problem," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 65-71, Feb 1991. Abstract Link Full Text Abstract: The control of switching DC-DC converters is reviewed. It is regarded as a general linear quadratic regulator (LQR) problem, and an innovative optimal and robust digital controller is proposed. The control strategy adopted can achieve good regulation, rejection of modest disturbances, and the ability to cater to switching converters with RHP zeros. This controller design is a general approach that is applicable to all PWM-type DC-DC converters with their circuit topologies known or unknown. Modern CAD techniques are used to reach the final control law. Application to a published Cuk converter is used as an example, and the performance is evaluated
38.1.14	M. Kazerani, P.D. Ziogas, G. Joos, "A novel active current waveshaping technique for solid-state input power factor conditioners," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 72-78, Feb 1991. Abstract Link Full Text Abstract: A novel input power factor correction method that uses a closed-loop active current waveshaping technique is presented. The novel feature of the method is that nearly sinusoidal input currents are obtained at constant switching frequencies. Moreover, the method exhibits instantaneous current control, which results in very fast response and increased switch reliability. Selected predicted system performance and design methods were verified experimentally on a 1 kVA laboratory prototype
38.1.15	R. Simard, A. Cheriti, T.A. Meynard, K. Al-Haddad, V. Rajagopalan, "An EPROM-based PWM modulator for a three-phase soft commutated inverter," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 79-81, Feb 1991. Abstract Link Full Text Abstract: A fully digital erasable programmable ROM (EPROM)-based pulse width modulator (PWM) that receives voltage and frequency control commands independently at the input and could be used in AC variable-speed drives is described. This modulator is simpler and dynamically better than one built using a microcomputer. A high-1 resolution (one in 256) is obtained, and up to eight different PWM switching strategies can be easily implemented. Changes in the voltage or frequency commands are transient free. Some experimental results are presented
38.1.16	R.E. Zulinski, K.J. Herman, J.C. Mandojana, "The infeasibility of constant output power in a constant-current-fed class-E power inverter," IEEE Trans. on Industrial Electronics, vol. 38, no. 1, pp. 81-82, Feb 1991. Abstract Link Full Text Abstract: The possibility of constant output power that is independent of load resistance is investigated. The only possibility is shown to be the trivial case in which the output power is zero. It is concluded that, for load-independent class-E operation, a different class-E inverter configuration, e.g. a class-E inverter with finite DC-feed inductance, may prove to be useful

IEEE Transactions on Industrial Electronics

IEEE Transactions on Industrial Electronics

Volume 38, Number 2, April 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.2.1	Y.-S. Lee, D.K.W. Cheng, Y.C. Cheng, "Design of a novel AC regulator," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 89-94, April 1991. Abstract Link Full Text Abstract: A design in which an AC-to-AC electronic transformer is connected in series with the AC mains to provide a regulated AC output voltage is described. The approach reduces the required voltage and power ratings of the circuit components in the electronic transformer and indirectly increases the conversion efficiency. Since the transformer is designed to accept AC mains directly as the input, no rectifier or mains frequency filtering circuit is required. This, together with the high switching frequency, allows the design of small-size and high-efficiency AC regulators for practical use. An experimental 50 W regulator has been designed to give a typical efficiency of 96%
38.2.2	S.K. Panda, G. Amaratunga, "Comparison of two techniques for closed-loop drive of VR step motors without direct rotor position sensing," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 95-101, April 1991. Abstract Link Full Text Abstract: Closed-loop control of variable-reluctance (VR) step motors without using direct rotor-position sensing is investigated. Two nondirect rotor-position sensing techniques, namely the waveform detection (WD) and the pulse-width-modulation (PWM) techniques, were implemented and applied to a four-phase (15° step-angle) VR step motor. Test results show that a DC shunt motor and a DC series motor type of performance can be achieved from the step motor with PWM drive and WD drive, respectively. The stability problem encountered with the existing PWM controller due to motional EMF effects at higher operating speeds is investigated, and modifications are suggested to include speed as an additional control signal to make the system more stable. With the inclusion of the speed signal, the operating speed of the test motor is from 1000 to 1750 r/min. The performances for the two techniques are compared, and experimental results are presented
38.2.3	K.-W. Lim, T.-S. Low, M.F. Rahman, L.-B. Wee, "A discrete time variable structure controller for a brushless DC motor drive," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 102-107, April 1991. Abstract Link Full Text Abstract: The design and the microprocessor-based implementation of a variable-structure-strategy (VSS) controller for a brushless DC motor drive are described. The controller is a conventional variable-structure design in the continuous-time domain. However, the microprocessor implementation using a constant sample period implies that full sliding mode is not achieved. The properties of the quasi-sliding that results are explored. It is shown that the sliding line expands into a sliding region, which can be described as a sector. The size of this sector is related to the sampling period and the switching gains. A modified design procedure is proposed for discrete-time VSS design. The design was verified on an experimental set-up, which generated variations in system parameters as well as external load disturbances
38.2.4	Seung-Gi Jeong, Min-Ho Park, "The analysis and compensation of dead-time effects in PWM inverters ," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 108-114, April 1991. Abstract Link Full Text Abstract: The quantitative prediction of the dead-time effect in pulse width modulated (PWM) inverters is addressed. Through analysis and simulation it is shown that the effect results in a decrease of the fundamental component and an increase in the low-order harmonics in the output voltage of the inverter. To compensate the effect, two simple methods, which are adequate for sinusoidal PWM and memory-based PWM, respectively, are presented. Experimental results show the validity of the analysis and the usefulness of the compensation methods
38.2.5	T. Shimizu, M. Shioya, "Characteristics of electric power transmission on high-frequency inverter having distributed constant line at load side," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 115-120, April 1991. Abstract Link Full Text Abstract: An induction heating system aimed at improving the characteristics of high-frequency power supplied from the high-frequency, inverter to the parallel resonant load circuit is proposed, and its transmission efficiency is studied. In this system, high-frequency power can be supplied by lowering the effect of the inductance component accompanied by wiring between the inverter circuit and the resonant load circuit. Impedance matching between the inverter and the resonant circuit and high-efficiency power transmission from the inverter to the load circuit are possible. If a flexible coaxial cable is used as the distributed constant line, it is easy to cope with the case in which comparative distance exists between the inverter part and the heating part or the case in which the heating part is moved
38.2.6	S.K. Biswas, B. Basak, M.M. Swamy, "A three-phase half-controlled rectifier with pulse width modulation ," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 121-125, April 1991. Abstract Link Full Text Abstract: A three-phase pulse-width-modulated (PWM) half-controlled rectifier using a novel PWM control strategy whereby the low-order harmonic content in both the input current and the output voltage is reduced is presented. The circuit operates with a unity displacement factor at its input and uses minimum power components. The PWM strategy developed can be implemented on a three-phase half-controlled rectifier bridge with only three controlled switches to obtain PWM controlled rectification. Although the circuit operation is explained with force-commutated SCR switches, the basic controlled PWM operation is valid for any type of switch control. The circuit has wide applications ranging from rectifiers to battery chargers to motor drives. Even if an input current filter is desired, its size will be small due to the PWM pattern used
38.2.7	R.J. King, "Analysis and design of an unusual unity-power-factor rectifier," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 126-134, April 1991. Abstract Link Full Text Abstract: A unity-power-factor rectifier that has a parallel-resonant tank tuned to the second harmonic of the line frequency is analyzed for two filter configurations. A unidirectional-power-flow version of the current-sourced rectifier can operate stably open loop or can be current limited down to zero output voltage. The large inductor normally required is an outstanding disadvantage which can be partially overcome using a resonant filter. The design-oriented analysis includes variable-frequency operation and key component ratings. A design procedure is suggested, and complete experimental verification is obtained using a 120 V, 500 W. 60 Hz rectifier switching at 50 kHz
38.2.8	D. van der Linde, C.A.M. Boon, J.B. Klaassens, "Design of a high-frequency planar power transformer in multilayer technology," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 135-141, April 1991. Abstract Link Full Text Abstract: A high-frequency power transformer using multilayer printed circuit board (ML-PCB) technology is presented for applications in switched-mode power supplies operating at frequencies up to several megahertz. The mechanical configuration of laboratory prototypes is discussed, as well as the electrical, parasitic, and thermal behavior. The focus is on the leakage inductance, since the analysis of other aspects is relatively simple. Test results show that the transformer has high efficiency, low leakage inductance, good thermal behavior, and good line insulation properties. The topology enables the designer to make a trade-off between leakage inductance and interwinding capacitance. Due to the well-defined geometry, parasitic interwinding capacitance and leakage inductance are reproducible and can be computed relatively easily
38.2.9	W.E. Snyder, M.-L. Hsiao, K.J. Overton, K.E. Boone, "Circuit board inspection using a range camera," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 142-149, April 1991. Abstract Link Full Text Abstract: A high-speed, high-accuracy three-dimensional (3-D) range camera that possesses sufficient speed and accuracy to inspect circuit boards in real time is presented. The architecture of the system is briefly described, and the algorithms used to make quantitative presolder measurements, including the orientations and lengths of leads and the locations and shapes of holes, are examined in detail. Since the unit runs in real time and performs sophisticated image analysis functions, considerable emphasis in the algorithm development was placed on the ability to partition tasks between general-purpose computers and array processors
38.2.10	M. Numao, S.-i. Morishita, "Cooperative scheduling and its application to steelmaking processes ," IEEE Trans. on Industrial Electronics, vol. 38, no. 2, pp. 150-155, April 1991. Abstract Link Full Text Abstract: A cooperative approach to scheduling problems is proposed, and its application to creating daily schedules for steelmaking processes is described. In cooperative scheduling, procedures, rules, and the user cooperate to make a feasible schedule efficiently. The procedures, collectively called a scheduling engine, work as a local constraint satisfier to solve general primitive constraints. Rules that represent domain-dependent knowledge then solve the domain-specific constraints by means of a pattern-matching function. The user evaluates the schedule and modifies it by means of a user-friendly interface with direct-manipulation functions. The user interaction is therefore included in the system architecture as a global constraint satisfier. The iteration of this cycle improves the schedule until it becomes feasible. Experimental results obtained with Scheplan, the scheduling environment that applies this approach to scheduling steelmaking processes, show that the daily scheduling time is much less than in manual scheduling and the quality of the schedule is much improved

IEEE Transactions on Industrial Electronics

IEEE Transactions on Industrial Electronics

Volume 38, Number 3, June 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.3.1	D. Antic, J. Holtz, "High-efficiency dual transistor base drive circuit based on the Cuk converter topology," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 161-165, June 1991. Abstract Link Full Text Abstract: A dual transistor base drive circuit that unifies all important functions (on-state base current power supply for two power transistors, off-state negative U_be =-5 V base-emitter voltage, overcurrent and short-circuit protection scheme based on saturation voltage, and on- and off-state monitoring circuits) is described. The unit provides two base drive outputs using a single switching converter. It can be used to control two individual power transistors in different inverter configurations, e.g. common emitter or bridge configuration. The concept of a dual transistor base drive circuit using the Cuk switching regulator topology enables the low volume construction of a high-efficiency base drive unit for a high-power transistor inverter bridge leg. The circuit is powered from a common DC rail. The base current waveforms are characterized by steep slopes and an overcurrent peak at turn on
38.3.2	A. Ishiguro, T. Furuhashi, S. Okuma, "A novel control method for forced commutated cycloconverters using instantaneous values of input line-to-line voltages," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 166-172, June 1991. Abstract Link Full Text Abstract: The authors present a novel control method for forced commutated cycloconverters (PWM cycloconverters). Using this control method the sinusoidal input and output current waveforms and the unity input displacement factor can be obtained. Moreover, the compensation of the asymmetrical and/or harmonic contaminated input source voltages is easily realized. This control method allows the input displacement factor not to be controllable, but to be fixed at approximately unity. Since a unity input displacement factor is desirable for motordrive use for the PWM cycloconverters, this constraint is not a new obstacle. Feasibility of the proposed control method is verified by simulations and experiments
38.3.3	M.G. Kim, D.S. Lee, M.J. Youn, "A new state feedback control of resonant converters," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 173-179, June 1991. Abstract Link Full Text Abstract: A state feedback control that can be easily implemented is proposed to improve the stability and dynamic characteristics of resonant power converters. An important characteristic of the system with the proposed control is the reduction of order in the discrete time domain. The design parameters of the control are reduced by one, compared with those of the conventional linear state feedback control, and the design procedure is similar to that of a variable structure system (VSS) control. The proposed control is illustrated by its application to a series resonant power converter. The experimental results confirm the validity of the proposed control
38.3.4	S. Iida, Y. Okuma, S. Masukawa, S. Miyairi, B.K. Bose, "Study on magnetic noise caused by harmonics in output voltages of PWM inverter," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 180-186, June 1991. Abstract Link Full Text Abstract: Harmonic components included in the output waveforms of inverter circuits cause magnetic noise from the output transformers or load motors. Functions to estimate the magnetic noise caused by the harmonics are proposed. After confirming the relationship between the proposed functions and the magnetic noise by experiments, the authors compare the magnetic noise qualitatively in several output waveforms of PWM inverters, considering their distortions. By applying those functions, those waveforms that are more noisy can be predicted
38.3.5	Y. Shoji, M. Inaba, T. Fukuda, "Impact control of grasping [robot manipulators]," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 187-194, June 1991. Abstract Link Full Text Abstract: The stabilization effect of collision in impact-controlled manipulator-object systems is discussed. The stability of system behavior is analyzed by the Lyapunov direct method. Some simulation results are shown to confirm the effect. Collision is one of the nonlinear problems where the dynamical structure changes. In industrial fields, the phenomenon is utilized effectively to suppress vibrations, but collision is a difficult problem to treat in the field of control because the methodology is mostly based on linear theory. The nonlinear impact force is modeled as a Hertz-type force with damping. A nonlinear matrix and a quadratic form is defined to examine system stability. As a results, stable control with collision phenomena is obtained
38.3.6	T. Ozaki, T. Suzuki, T. Furuhashi, S. Okuma, Y. Uchikawa, "Trajectory control of robotic manipulators using neural networks ," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 195-202, June 1991. Abstract Link Full Text Abstract: The authors present a nonlinear compensator using neural networks for trajectory control of robotic manipulators. The neural networks are not used to learn inverse-dynamics but to compensate nonlinearities of robotic manipulators. The performance of the proposed neural network controller is compared with that of the adaptive controller proposed by J.J. Craig (1988), and the effectiveness of the proposed neural network controller in compensating the unstructured uncertainties is clarified. A learning scheme using a model of known dynamics of manipulators is also proposed. The model learning can be done offline and needs no data recording of actual manipulator operation
38.3.7	E.J. Dede, J.V. Gonzalez, J.A. Linares, J. Jordan, D. Ramirez, P. Rueda, "25-kW/50-kHz generator for induction heating," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 203-209, June 1991. Abstract Link Full Text Abstract: The authors present the features, technology, and construction of a transistorized generator for induction heating operating over the 4-50 kHz frequency range. This type of 25 kW output-power generator allows replacement of the electronic tube generators for most of their applications. The advantages of this new generator are more energy efficiency, extended life, reduced size, separated heating station of the generator, and connection by flexible cable. In addition, the generator has incorporated a frequency automatic tracking system that allows operating without any adjustments over a wide frequency range
38.3.8	G. Corriga, S. Sanna, G. Usai, "An optimal tandem active-passive suspension system for road vehicles with minimum power consumption," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 210-216, June 1991. Abstract Link Full Text Abstract: The authors examine the problem of the synthesis of an optimal control law for active suspensions of road vehicles, based on a model with two degrees of freedom. The possibility of realizing the desired optimal control law with a tandem active-passive suspension is considered. The procedure for determining the desired optimal control law on the basis of suitable design specification is outlined. In the case of a suspension with two degrees of freedom, the possibility of realizing a control law with an active suspension in tandem with a conventional passive one consisting of a spring and a damper is examined. The characteristic parameters of the passive part of the suspension are identified with the aim of minimizing the power required by the active part. The expressions for calculating the values of the elastic constant of the spring and of the characteristic coefficient of the damper, which are both assumed to be linear, are provided. An example of the application is presented
38.3.9	M. Sunwoo, K.C. Cheok, N.J. Huang, "Model reference adaptive control for vehicle active suspension systems," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 217-222, June 1991. Abstract Link Full Text Abstract: A model reference adaptive control (MRAC) technique for vehicle active suspension subsystems is presented. The MRAC automatically self-tunes the active suspension so that disturbance and vibration of a vehicle is reduced to a level determined by an ideal conceptual suspension reference model. The Lyapunov stability method was used in the design of the MRAC. It is shown that the MRAC suspension can accommodate large variances in sprung load and suspension component characteristics and achieves significant improvements over the passive suspension. Real-time simulation and animation (RTSA) software was developed to provide a visual aid for understanding and interpreting the performance of the MRAC suspension
38.3.10	C. Umeagukwu, J. McCormick, "Investigation of an array technique for robotic seam tracking of weld joints," IEEE Trans. on Industrial Electronics, vol. 38, no. 3, pp. 223-229, June 1991. Abstract Link Full Text Abstract: A noncontact optical preview sensing technique for possible application to a robotic seam tracking system is presented. This technique uses a structured laser illumination source: a SELFOC lens array (SLA) coupled to a fiberoptic and a phototransistor (photodetector) array. The experimental results with the SLA and fiberoptic array demonstrate the feasibility of linear fiberoptic array sensing of the weld joint. The intensity profiles acquired by the array were such that when combined with suitable data processing software routines, the sensing technique was able to provide satisfactory measurements of joint width and location of the centerline. An experiment demonstrates the viability of the approach for tracking of a weld seam. A clear profile containing the expected features was obtained at each cross-sectional location as the joint was traversed

IEEE Transactions on Industrial Electronics

IEEE Transactions on Industrial Electronics

Volume 38, Number 4, August 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.4.1	T.-H. Lee, K.-W. Lim, W.-C. Lai, "Real-time multivariable self-tuning controller using a feedforward paradigm with application to a coupled electric-drive pilot plant," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 237-242, August 1991. Abstract Link Full Text Abstract: A multivariable self-tuning control design based on a feedforward paradigm and the generalized minimum variance (GMV) control strategy is presented. The real-time implementation of this controller on a coupled electric-drive pilot plant is discussed. The results of experiments on the pilot plant demonstrated that good performance can be achieved using the design
38.4.2	S.T. Hung, "Sensitivity points-based self-tuning," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 243-250, August 1991. Abstract Link Full Text Abstract: Sensitivity points tuning concepts, extension of these concepts to the self-tuning of multiinput/multioutput (MIMO) systems, and implementation issues are discussed. The means of generating the sensitivities needed for tuning is developed in a matrix transfer function form. A block diagram interpretation is presented to illustrate the conceptual clarity of using MIMO sensitivity points. The effectiveness of the self-tuning technique is demonstrated through the application of self-tuning to a magnetic suspension system
38.4.3	A.K.S. Bhat, "A unified approach for the steady-state analysis of resonant converters," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 251-259, August 1991. Abstract Link Full Text Abstract: A generalized approach for the steady-state analysis of resonant converters is presented. Different resonant converter tank circuit configurations are combined into a single tank circuit referred to as a generalized tank circuit. The load presented to this tank circuit is represented by an AC equivalent resistance, and simple complex circuit analysis is used to analyze such a generalized tank circuit. This type of unified approach simplifies the method of analysis for different configurations and eliminates the need for analysis of different schemes separately. In addition, in a computer program, the results for a particular scheme can be obtained by opening or shorting the nonrequired tank circuit components of the generalized scheme. The effect of high-frequency transformers and other parasitics can be taken into account in the analysis. A design example is presented to illustrate the method of designing a converter, and experimental results are presented to verify the analysis
38.4.4	J.G. Cho, G.H. Cho, "Single-cycle resonant converters: a new group of quasi-resonant converters suitable for high-performance DC/DC and AC/AC conversion applications," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 260-267, August 1991. Abstract Link Full Text Abstract: A novel resonant switch and a family of zero-current and zero-voltage mixed-mode switching quasi-resonant converters (QRCs) called single-cycle resonant converters (SCRCs) are proposed to improve the performance of the conventional QRCs. The SCRCs, which include two active switches operated with zero-current switching (ZCS) and zero-voltage switching (ZVS), respectively, show very simple operation and ease of control and analysis, and they overcome the limited load range characteristics of the conventional ZCS QRCs. The SCRCs can be applied even for a high-frequency AC chopper by replacing unidirectional switches with bidirectional ones. Steady-state operation and characteristics of the buck-type SCRCs are analyzed and compared with those of the buck-type full-wave QRC (FW-QRC). Experimental results at a a 200 kHz, 1 kW level are shown to verify the operational principle and characteristics
38.4.5	B.T. Ooi, B.M.M. Mwinyiwiwa, X. Wang, G. Joos, "Operating limits of the current-regulated delta-modulated current-source PWM rectifier," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 268-274, August 1991. Abstract Link Full Text Abstract: A stand alone, three-phase, delta-modulated, current-source PWM rectifier has been built and has been shown to be capable of operating with near sinusoidal current waveforms, unity power factor. and good DC current regulation. A mathematical model that has been justified against experimental measurements and results from digital simulations is presented. The current waveform distortion limit and the asymptotic stability limit are established. It is shown that the rectifier can operate safely within these limits in the entire range of its power ratings
38.4.6	Chang-Ming Liaw, Ying-Shieh Kung, Ching-Ming Wu, "Design and implementation of a high-performance field-oriented induction motor drive," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 275-282, August 1991. Abstract Link Full Text Abstract: The design and implementation of a high-performance controller for a field-oriented induction motor drive is presented. Dynamic modeling based on the stochastic technique is performed. Based on the estimated drive model, a two-degree-of-freedom controller is proposed so good dynamic responses in both the speed tracking and regulation characteristics can be achieved. The parameters of the controller are found using a proposed systematic design procedure according to the prescribed specifications. Having designed and tested the performance of the controller by simulation, the hardware implementation is successfully made, and some experimental results are given to demonstrate the effectiveness of the proposed controller
38.4.7	H. Singh, S.M. Sharma, "Some novel μP-based configurations for controlling remotely located stepper motors as actuators of control valves," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 283-287, August 1991. Abstract Link Full Text Abstract: Four microprocessor based configurations for controlling remotely located stepper motors with single-step resolution control to work as actuators of control valves with a 4-20 mA control signal generated in a multichannel data acquisition and control system are investigated for their operations, performances, and limitations. One of the configurations is directly hardware compatible with that of electropneumatic valves, but for the other configurations, hardware interfaces are needed to store, generate, and transmit control signals in order to reduce microprocessor busy time. The detection circuits required at the remote end for deriving direction, stepping rate, and drive duration from the control signal become simple if the information about these is explicitly expressed in the control signal
38.4.8	A. Di Stefano, O. Mirabella, "Evaluating the field bus data link layer by a Petri net-based simulation," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 288-297, August 1991. Abstract Link Full Text Abstract: The performance of the data link layer of the field bus, an emerging LAN architecture for control systems presently under standardization, is discussed and evaluated. Some aspects of the communication mechanism are presented, referring to the use of the two kinds of tokens of the protocol and pointing out their main features and the advantages and disadvantages offered by each one. The protocol was specified by extended timed Petri-nets and was evaluated by a suitable simulation tool. The results provide some criteria according to which the designer can choose, among the various mechanisms made available by the standard proposal, those which provide the most efficient solution for the scenario being considered
38.4.9	H.-G. Yeh, "Processing performance of two Kalman filter algorithms with a DSP32C by using assembly and C languages," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 298-302, August 1991. Abstract Link Full Text Abstract: Two Kalman filter algorithms are implemented with a DSP32C processor. These two Kalman filters use conventional matrix operation and U-D factorization algorithms, respectively. The real-time processing performance of each algorithm is evaluated in terms of throughput, program and data memory sizes. Both DSP32C assembly and high-level C language programs of these two algorithms are developed (a total of four programs) for evaluating the coding efficiency. It is observed that both algorithms can be more efficiently programmed by using assembly language, a matrix-based algorithm enjoys its simple and regular operations so that less program memory is required in both assembly and in C languages, the U-D factorization algorithm involves fewer multiply-accumulate operations and provides a fast throughput in C language only, and the advantage of less multiply-accumulate operations in U-D factorization algorithm no longer exists in assembly language when the number of states of a Kalman filter is large
38.4.10	Dong Seong Oh, Hwi Beom Shin, Myung Joong Youn, "A new slip gain adaptation algorithm for indirect field-oriented drive systems," IEEE Trans. on Industrial Electronics, vol. 38, no. 4, pp. 303-307, August 1991. Abstract Link Full Text Abstract: The performance of the indirect field-oriented control using the slip frequency depends heavily on the accuracy of the induction machine parameters. It has been shown that the changes in rotor resistance have a dominant effect on the machine performance. An important requirement for obtaining good performance is to find the real machine parameters in the field-oriented controller. A slip gain adjustment algorithm for the field-oriented control proposed is simple and does not need any additional circuitry. It has been shown through the digital simulation that the correct slip frequency can be obtained at any machine parameter deviations by almost one adaptation

IEEE Transactions on Industrial Electronics

IEEE Transactions on Industrial Electronics

Volume 38, Number 5, Oct 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.5.1	G.S. Buja, M.I. Valla, "Control characteristics of the SRM drives. I. Operation in the linear region," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 313-321, Oct 1991. Abstract Link Full Text Abstract: The control characteristics of switched reluctance motor (SRM) drives are analyzed for operation of the motor in the linear region of its magnetic characteristics. After reviewing the motor operation, the authors consider the current-fed and voltage SRM drives. For both types of drives, the control variables and the related ranges are identified, the relationships between such variables and the average motor torque are calculated, and the torque capability is found. The basic schemes for the speed control of the SRM drives are also formulated
38.5.2	A.M. Khambadkone, J. Holtz, "Vector-controlled induction motor drive with a self-commissioning scheme," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 322-327, Oct 1991. Abstract Link Full Text Abstract: Different vector-controlled structures are discussed, and their suitability for an economical and reliable industrial drive system is explored. From this, the design of a compact control hardware is derived, composed of an 80196 microcontroller and an ASIC (application-specific integrated circuit) for the generation of the pulsewidth modulation (PWM) signals. The drive system can be configured from a host computer or a hand-held servicing unit through a serial data link. Monitoring and diagnostic functions are included. A self-commissioning scheme permits the setting of the parameters for optimum dynamic performance of the induction motor. Various oscillograms demonstrate the behavior of the vector controller operating a 25-kVA PWM inverter
38.5.3	N. Margaris, T. Goutas, Z. Doulgeri, A. Paschali, "Loss minimization in DC drives," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 328-336, Oct 1991. Abstract Link Full Text Abstract: A method for determining the optimal DC machine excitation for loss minimization is presented. The proposed method may be implemented by using either analog or digital techniques. The method is simple, and its implementation does not affect significantly the cost, the complexity, and the dynamics of the DC drive. Thus, energy can be saved without sacrificing the quality of the DC drive. Even though the conception of the proposed method is based on the loss model of the DC machine, it is shown that its realization does not require knowledge of the loss model
38.5.4	E.-H. Song, B.-H. Kwon, "A direct digital control for the phase-controlled rectifier," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 337-343, Oct 1991. Abstract Link Full Text Abstract: Direct digital control of the phase-controlled rectifier (PCR) is implemented with a minimum control hardware structure. A digital phase-locked voltage control (PLVC) without detecting the line voltage is presented. An inner fast control loop is proposed to stabilize the PCR system and to obtain its constant loop gain. In the inner loop, an averaging function is introduced to feed back the average DC voltage of the PCR output without the feedback filter. Its synchronism is modeled and analyzed. An optimal constant digital integral, proportional, and measurable variable feedback (IPM) current controller with a time-multiplied performance index is also proposed to obtain a good dynamic response of the output current. All control functions are implemented with an Intel 8797 single-chip microcomputer. Experimental results show that the scheme gives good dynamic and static performance for the PCR system
38.5.5	M.K. Kazimierczuk, "Class D current-driven rectifiers for resonant DC/DC converter applications," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 344-354, Oct 1991. Abstract Link Full Text Abstract: Analyses and experimental results are given for a family of three Class D current-driven rectifiers. The diode current is half-sine wave and the diode voltage is a square wave. The diode forward voltage and forward resistance are taken into account in the analyses. The basic performance parameters of the rectifiers are determined, such as input resistance, voltage transfer function, efficiency, and power factor. The ripple voltage is estimated, and some effects of the equivalent series resistance and equivalent series inductance of filter capacitors on the ripples are discussed. The experimental results were obtained using IR31DQ06 Schottky diodes at 1 MHz and 16 W output power
38.5.6	H. Le-Huy, K. Slimani, P. Viarouge, "A current-controlled quasi-resonant converter for switched-reluctance motor," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 355-362, Oct 1991. Abstract Link Full Text Abstract: A current-controlled quasi-resonant power converter suitable for switched-reluctance motor (SRM) feeding is presented. The converter operation is analyzed and its characteristics are determined in terms of the system parameters. The converter control strategy is studied for different operating conditions. Current control operation is considered and discussed. Theoretical predictions are verified and validated by experimental results obtained with a prototype SRM drive
38.5.7	T. Umeno, Y. Hori, "Robust speed control of DC servomotors using modern two degrees-of-freedom controller design," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 363-368, Oct 1991. Abstract Link Full Text Abstract: The authors propose a robust speed control system for DC servomotors based on the parametrization of two-degree-of-freedom controllers. The servosystems can dramatically improve the characteristics of the closed loop systems, i.e. the disturbance torque suppression performance and the robustness to system parameter variations, without changing the command input response. The excellent control performances obtained during laboratory experiments by using a microprocessor-based controller are shown
38.5.8	M.R. Stojic, S.N. Vukosavic, "Design of microprocessor-based system for positioning servomechanism with induction motor," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 369-378, Oct 1991. Abstract Link Full Text Abstract: Digital control algorithms are proposed for a position-controlled system with an inverter-fed induction motor. Two structures for the positioning servomechanism are suggested in which the appropriate digital control laws are applied and a straightforward method for adjusting of controller parameters is developed. The method enables the designer to match the desired dynamic performance and to eliminate the steady-state position error due to the presence of a constant or a slowly varying load disturbance. Particular attention is paid to the nonlinear position control design, which preserves the desired response even in the case when electrical torque reaches limits imposed by the inverter current capacity. To illustrate the proposed design procedure and to verify the efficiency of the nonlinear control laws, simulation results and waveforms from an experimental setup are presented
38.5.9	S. Shimada, S. Ugai, S. Sakamoto, A. Sase, Y. Shimizu, "Intelligent differential pressure transmitter with multiple sensor formed on a (110)-oriented circular silicon diaphragm," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 379-384, Oct 1991. Abstract Link Full Text Abstract: A multiple piezoresistive gauge sensor was developed for application to intelligent differential pressure transmitters. The sensor can measure differential pressure, static pressure, and temperature. Three piezoresistive gauges are positioned on a (110)-oriented circular monocrystalline silicon diaphragm. Proper dimensional design and optimal gauge positioning maximize the output and minimize crosstalk. Using data maps, three voltage outputs are combined by a microprocessor unit to yield a compensated sensor output. An experimental sensor was fabricated and the compensation scheme was proved useful. The sensor accuracy was within ±0.1% of the full scale in the pressure range of ±80 kPa. The zero and span shifts were less than 0.25% for the temperature range of -20-60°C, and zero shift was less than 0.1% for the static pressure change of 15 MPa
38.5.10	E. Faldella, G.C. Cardinali, P.U. Calzolari, "Architectural and design issues on optimal management of photovoltaic pumping systems," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 385-392, Oct 1991. Abstract Link Full Text Abstract: Unconventional design and control techniques for the optimal utilization of photovoltaic energy sources are discussed. The application domain considered concerns photovoltaic pumping plants. A design methodology for plants characterized by direct connection of the load to the generator is illustrated, leading to easy selection of components and proper sizing of the energy source to meet assigned target specifications. A direct coupling matching technique based on the reconfiguration principle of generator geometry is presented. This guarantees transfer of the maximum available power from the source to the load in all environmental and working conditions. A hierarchically structured control system has been conceived for automatic and flexible plant management: at the lower level a microcomputer, equipped with the necessary process interfaces, handles execution of real-time control tasks while a personal computer carries out supervision, monitoring, and diagnostic activities at the higher level. Both simulation studies and experimental tests demonstrate the validity of the techniques as well as the superior performance achievable in comparison with traditional solutions
38.5.11	M.H. Ohsato, G. Kimura, M. Shioya, "Five-stepped PWM inverter used in photovoltaic systems," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 393-397, Oct 1991. Abstract Link Full Text Abstract: A PWM (pulse-width-modulated) inverter that has five-stepped output-voltage levels is introduced. In this inverter, the waveform of the output voltage has a smaller harmonic content than that of a conventional PWM inverter. A novel PWM technique is analyzed. The PWM pulses included in the waveform of the output voltage are formed using a criterion based on the calculation that each area of voltage pulses is equal to the integrated value of each time shared area of a reference sinusoidal waveform. This PWM technique for the five-stepped PWM inverter is superior to the conventional PWM technique, and the experimental results coincided with the calculation obtained using the fast Fourier transform. In addition, the relations between the number of PWM pulses and the harmonic contents of the output voltage are described
38.5.12	A. Patra, G.P. Rao, "Parameter estimation in a converter driven DC motor system via general hybrid orthogonal functions," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 398-403, Oct 1991. Abstract Link Full Text Abstract: An algorithm for parameter estimation in a power converter-controlled DC motor drive system is proposed. The algorithm is based on the recently proposed framework of general hybrid orthogonal functions (GHOFs) for signal characterization in power electronic systems. The use of GHOFs allows parameter estimation directly in continuous-time models, bypassing the nontrivial problems of discretization which would otherwise arise in conventional techniques based on discrete-time models
38.5.13	G. Arsov, "A novel algorithm for microcomputer-based digitally controlled cycloconverter," IEEE Trans. on Industrial Electronics, vol. 38, no. 5, pp. 404-405, Oct 1991. Abstract Link Full Text Abstract: The problem of microcomputer-based digital control of a naturally commutated cycloconverter (NCC) operating with variable frequency input voltage waveform is discussed. A method based on cosine wave crossing pulse timing control is proposed. The proposed algorithm provides a very simple and yet quite accurate method for operation of a circulating-current NCC with variable frequency input voltage. The output voltage will stabilize in less than two-thirds of the input voltage period even for abrupt changes in the input frequency. The variation of the magnitude of the input voltage can be easily corrected by simple voltage feedback. A computer simulation was performed for preliminary testing of the proposed algorithm

IEEE Transactions on Industrial Electronics

IEEE Transactions on Industrial Electronics

Volume 38, Number 6, Dec 1991 Access to the journal on IEEE XPLORE IE Transactions Home Page

38.6.1	L. Zhou, G. Cook, "Path planning for robotic manipulators with redundant degrees of freedom," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 413-420, Dec 1991. Abstract Link Full Text Abstract: The problem of path planning for robotic manipulators with redundant and nonredundant degrees of freedom is addressed. It is assumed that the motors for each joint are capable of achieving the commanded velocity within limits. Thus, the dynamic model is simplified and the main complexity is that of the kinematic relationships. Of primary interest is the problem of moving the end effector from point A to point B in an efficient manner, possibly in the presence of obstacles. A suboptimal solution is proposed and discussed. Examples are presented in order to compare the performance of the redundant and the nonredundant manipulators
38.6.2	J.Y. Hung, "Control of industrial robots that have transmission elasticity," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 421-427, Dec 1991. Abstract Link Full Text Abstract: A control scheme is presented for electrically driven, industrial robots that have transmission elasticity. Some feedback structures that have been described in the past have an inner control loop to cancel the elastic coupling torque between motor and link. An outer feedback loop is then used for the control of the arm position. A refinement of such a control scheme is analyzed using singular perturbation methods. A broad spectrum of control algorithms that were originally designed under the assumption of ideal, rigid joints can now be extended to the elastic transmission case with minor modifications. One contribution is that exact cancellation of the elastic torque is not necessary. In fact, the elasticity effects in some robots can be adequately damped by simply adding only a term that is proportional to the differential speed (difference between link velocity and motor velocity). Experimental results are also presented
38.6.3	C.C. Hang, K.K. Sin, "On-line auto tuning of PID controllers based on the cross-correlation technique," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 428-437, Dec 1991. Abstract Link Full Text Abstract: The development of an online version of an autotuning algorithm for proportional-integral-derivative (PID) controllers based on the cross-correlation technique is described. The autotuner causes only minor perturbation on the normal operation of the process, needs little prior information, and is robust to noise. The design rules for automatic selection of the length and bit interval of the pseudorandom binary-sequence (PRBS) probing signal used by this autotuner are also discussed. The accuracy and performance of this autotuning method have been substantiated by extensive simulations
38.6.4	A.C. Lippincott, R.M. Nelms, "A capacitor-charging power supply using a series-resonant topology, constant on-time/variable frequency control, and zero-current switching ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 438-447, Dec 1991. Abstract Link Full Text Abstract: A power supply specifically designed for capacitor-charging applications that uses a series-resonant circuit topology, a constant on-time/variable frequency control scheme, and zero-current switching techniques has been developed. The performance of this capacitor-charging power supply (CCPS) has been evaluated in the laboratory by charging several values of load capacitance at various repetition rates. The CCPS has charged a 1 μF capacitor from 0 to 1500 V DC in 750 μs, exhibiting a charging power of 1500 J/s. This operation has been repeated at a rate of 800 charges per second, which corresponds to an average power output of 900 W. A 10 μF capacitor has been charged from 0-1500 V DC in 8 ms. These results indicate that this design is feasible for use in capacitor-charging applications
38.6.5	M.-y. Chow, P.M. Mangum, S.O. Yee, "A neural network approach to real-time condition monitoring of induction motors," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 448-453, Dec 1991. Abstract Link Full Text Abstract: A neural network-based incipient fault detector for small and medium-size induction motors is developed. The detector avoids the problems associated with traditional incipient fault detection schemes by employing more readily available information such as rotor speed and stator current. The neural network design is evaluated in real time in the laboratory on a 3/4 hp permanent magnet induction motor. The results of this evaluation indicate that the neural-network-based incipient fault detector provides a satisfactory level of accuracy, greater than 95%, which is suitable for real-world applications
38.6.6	K.-T. Chau, Y.-S. Lee, A. Ioinovici, "Computer-aided modeling of quasi-resonant converters in the presence of parasitic losses by using the MISSCO concept," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 454-461, Dec 1991. Abstract Link Full Text Abstract: The DC and small-signal models of quasi-resonant converters, operating in both half-wave and full-wave modes, are developed in a suitable form for computer simulation. The starting step is the extraction of a minimum separable switching configuration (MISSCO) containing all power switches but a minimum number of other components (resonant ones). By using the step-response analysis and average technique, and by perturbing and separating the DC and AC components in the resulting equations, the equivalent models of MISSCO are derived. They are introduced in the converter structure to replace the circuit initially extracted. Models of different quasi-resonant converters can be obtained by this general approach. The analysis takes into account the conduction losses of the switching devices and reactive elements, which improves considerably the model accuracy. Model-based computer simulation agrees with the experimental results
38.6.7	C.Q. Lee, S. Sooksatra, "Performance characteristics of the full-bridge zero voltage switching PWM resonant converter," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 462-468, Dec 1991. Abstract Link Full Text Abstract: The authors present the exact analysis of the full-bridge zero voltage switching (ZVS) pulse width modulated (PWM) converter by using the state-plane technique. Based on the analysis, they derive the necessary conditions for ZVS operation and the performance characteristics of the converter in terms of characteristic curves from which the converter design procedure can be formulated. The performances of the converter operating outside the limits of ZVS operation, including the switching loss and the attainable efficiency under different load conditions, are also given. The analytical work is confirmed by experimental results
38.6.8	J.G. Kettleborough, I.R. Smith, V.V. Vadher, F.L.M. Antunes, "Microprocessor-based DC motor drive with spillover field weakening ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 469-475, Dec 1991. Abstract Link Full Text Abstract: A microprocessor-based speed control scheme for a separately excited DC motor fed from a DC source, which incorporates both armature-voltage control and spillover field weakening to provide smooth and precise control from standstill to speeds well above the base value, is described. Armature-current limitation during transient operation is achieved using an interventionist system external to the microprocessor controller, thereby simplifying considerably the overall system design. Experimental results obtained from a prototype 5 kW drive are presented to illustrate the excellent dynamic behavior of the scheme
38.6.9	M. Prokin, "Speed measurement using the improved DMA transfer method," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 476-483, Dec 1991. Abstract Link Full Text Abstract: A wide-range speed measurement method using the direct memory access (DMA) transfer of a content of the timer to the memory is presented. The DMA method is based on both pulse counting and time measurement during the constant sampling time. The hardware configuration and algorithms for a microcontroller implementation are also presented. The proposed method is suitable in systems using microcontrollers with integrated DMA controller and timers. Limitations and sources of errors are discussed in detail
38.6.10	S. Seereeram, J.T.-Y. Wen, "An all-geodesic algorithm for filament winding of a T-shaped form ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 484-490, Dec 1991. Abstract Link Full Text Abstract: An algorithm that generates all-geodesic paths for the complete surface coverage of a T-shaped form composed of the adjoining of two cylinders of equal radii is presented. This has been recognized as a challenging filament-winding problem as its form is nonaxisymmetric. This algorithm was implemented on the robotic filament-winding system developed at Rensselaer Polytechnic Institute
38.6.11	Zhe Chen, "Local observability and its application to multiple measurement estimation," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 491-496, Dec 1991. Abstract Link Full Text Abstract: The concept of local observability is introduced for linear time-varying systems. The concept is useful for the analysis of the observability of a system during a chosen time period. It has important applications in estimation involving multiple measurements. The observability matrix, used for testing complete observability, is also used to determine local observability. The condition number of the matrix is adopted as a scalar measure of degree of local observability. The use of the matrix and its condition number is illustrated by a practical application involving a terrain-aided inertial navigation system. Error covariance analysis, done by computer, is performed to confirm the local observability predicted by the condition number
38.6.12	V.V. Bapeswara Rao, P. Enjetti, P.D. Ziogas, "Comment, with reply, on `Analysis of a static power converter under unbalance: a novel approach' by P. N. Enjeti and P.D. Ziogas," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 497-498, Dec 1991. Abstract Link Full Text Abstract: The commenter argues that the expressions obtained in the above-named work (see ibid., vol.37, no.1, pp.91-93, Feb. 1990) by P.N. Enjeti and P. D. Ziogas for the harmonics of the output voltage are in error. Certain modifications of the formulas presented by Enjeti and Ziogas are suggested. An authors' reply is presented
38.6.13	P.D. Olivier, "Feedback linearization of DC motors," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 498-501, Dec 1991. Abstract Link Full Text Abstract: The feedback linearization of series and shunt-connected motors is studied. It is found that they can be feedback linearized in a variety of ways. The series-connected motor can be input-to-state linearized, whereas the shunt-connected motor cannot. All of the feedback linearizations are valid except on `thin sets' of states
38.6.14	D.C. Hanselman, "Techniques for improving resolver-to-digital conversion accuracy ," IEEE Trans. on Industrial Electronics, vol. 38, no. 6, pp. 501-504, Dec 1991. Abstract Link Full Text Abstract: Several methods for reducing the position error caused by the existence of imperfect resolver signal characteristics are introduced. The most straightforward method is simply to calibrate each resolver and resolver-to-digital (R/D) converter and then correct the R/D converter output in real time. Although this method corrects all errors, including those with an origin in the R/D converter, it is also the most time-consuming and labor-intensive. By appropriate signal processing, it is shown that quadrature error can be eliminated by simple algebraic manipulation of the resolver signals. Similarly, it is shown that all even harmonics in the resolver signals can be canceled if the resolver is constructed with complementary phases. It is shown that amplitude imbalance can be used to reduce the position error due to inductive harmonics